mirror of
https://github.com/eclipse-openvehicle-api/openvehicle-api.git
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tompzf
448
examples/door_demo_example/door_app/console.cpp
Normal file
448
examples/door_demo_example/door_app/console.cpp
Normal file
@@ -0,0 +1,448 @@
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#include "include/console.h"
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#ifdef _WIN32
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#include <conio.h> // Needed for _kbhit
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#else
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#include <fcntl.h>
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#endif
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const CConsole::SConsolePos g_sTitle{ 1, 1 };
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const CConsole::SConsolePos g_sSubTitle{ 2, 1 };
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const CConsole::SConsolePos g_sSeparator11{ 4, 1 };
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const CConsole::SConsolePos g_sSeparator12{ 6, 1 };
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const CConsole::SConsolePos g_sFrontLeftDoorIsOpen{ 7, 1 };
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const CConsole::SConsolePos g_sFrontRightDoorIsOpen{ 8, 1 };
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const CConsole::SConsolePos g_sRearLeftDoorIsOpen{ 9, 1 };
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const CConsole::SConsolePos g_sRearRightDoorIsOpen{ 10, 1 };
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const CConsole::SConsolePos g_sFrontLeftDoorIsLocked{ 7, 42 };
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const CConsole::SConsolePos g_sFrontRightDoorIsLocked{ 8, 42 };
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const CConsole::SConsolePos g_sRearLeftDoorIsLocked{ 9, 42 };
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const CConsole::SConsolePos g_sRearRightDoorIsLocked{ 10, 42 };
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const CConsole::SConsolePos g_sSeparator21{ 12, 1 };
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const CConsole::SConsolePos g_sSeparator22{ 14, 1 };
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const CConsole::SConsolePos g_sVehicleDevice{ 15, 1 };
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const CConsole::SConsolePos g_sSeparator31{ 17, 1 };
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const CConsole::SConsolePos g_sSeparator32{ 19, 1 };
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const CConsole::SConsolePos g_sBasicServiceL1{ 20, 1 };
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const CConsole::SConsolePos g_sBasicServiceR1{ 21, 1 };
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const CConsole::SConsolePos g_sBasicServiceL2{ 22, 1 };
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const CConsole::SConsolePos g_sBasicServiceR2{ 23, 1 };
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const CConsole::SConsolePos g_sSeparator41{ 25, 1 };
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const CConsole::SConsolePos g_sSeparator42{ 26, 1 };
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const CConsole::SConsolePos g_sComplexService{ 27, 1 };
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const CConsole::SConsolePos g_sControlDescription{ 29, 1 };
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const CConsole::SConsolePos g_sCursor{ 30, 1 };
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CConsole::CConsole()
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{
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#ifdef _WIN32
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// Enable ANSI escape codes
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HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
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if (hStdOut != INVALID_HANDLE_VALUE && GetConsoleMode(hStdOut, &m_dwConsoleOutMode))
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SetConsoleMode(hStdOut, m_dwConsoleOutMode | ENABLE_VIRTUAL_TERMINAL_PROCESSING);
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HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
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if (hStdIn != INVALID_HANDLE_VALUE && GetConsoleMode(hStdIn, &m_dwConsoleInMode))
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SetConsoleMode(hStdIn, m_dwConsoleInMode & ~(ENABLE_ECHO_INPUT | ENABLE_LINE_INPUT));
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#elif defined __unix__
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// Disable echo
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tcgetattr(STDIN_FILENO, &m_sTermAttr);
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struct termios sTermAttrTemp = m_sTermAttr;
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sTermAttrTemp.c_lflag &= ~(ICANON | ECHO);
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tcsetattr(STDIN_FILENO, TCSANOW, &sTermAttrTemp);
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m_iFileStatus = fcntl(STDIN_FILENO, F_GETFL, 0);
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fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus | O_NONBLOCK);
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#else
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#error The OS is not supported!
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#endif
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}
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CConsole::~CConsole()
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{
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SetCursorPos(g_sCursor);
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#ifdef _WIN32
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// Return to the stored console mode
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HANDLE hStdOut = GetStdHandle(STD_OUTPUT_HANDLE);
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if (hStdOut != INVALID_HANDLE_VALUE)
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SetConsoleMode(hStdOut, m_dwConsoleOutMode);
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HANDLE hStdIn = GetStdHandle(STD_INPUT_HANDLE);
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if (hStdIn != INVALID_HANDLE_VALUE)
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SetConsoleMode(hStdIn, m_dwConsoleInMode);
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#elif defined __unix__
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// Return the previous file status flags.
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fcntl(STDIN_FILENO, F_SETFL, m_iFileStatus);
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// Return to previous terminal state
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tcsetattr(STDIN_FILENO, TCSANOW, &m_sTermAttr);
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#endif
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}
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void CConsole::PrintHeader(const uint32_t numberOfDoors)
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{
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// Clear the screen...
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std::cout << "\x1b[2J";
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std::string title = "Door demo example: Data link attached (4 doors) ";
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if (numberOfDoors <= 4)
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{
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title = "Door demo example: Vehicle has ";
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title.append(std::to_string(numberOfDoors));
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title.append(" doors.");
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}
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// Print the titles
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PrintText(g_sTitle, title.c_str());
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PrintText(g_sSubTitle, " Doors are locked automatically after 2 seconds when all doors are closed.");
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PrintText(g_sSeparator11, "============================================================================");
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PrintText(g_sSeparator12, "Data dispatch service:");
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PrintText(g_sFrontLeftDoorIsOpen, "Front Left Door:.. not available");
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PrintText(g_sFrontRightDoorIsOpen, "Front Right Door:.. not available");
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PrintText(g_sRearLeftDoorIsOpen, "Rear Left Door:.. not available");
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PrintText(g_sRearRightDoorIsOpen, "Rear Right Door:.. not available");
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PrintText(g_sSeparator21, "----------------------------------------------------------------------------");
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PrintText(g_sSeparator22, "Vehicle device:");
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PrintText(g_sVehicleDevice, "Vehicle Device Interface not available.");
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PrintText(g_sSeparator31, "----------------------------------------------------------------------------");
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PrintText(g_sSeparator32, "Basic services:");
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PrintText(g_sBasicServiceL1, "Basic Service Interface not available.");
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PrintText(g_sSeparator41, "----------------------------------------------------------------------------");
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PrintText(g_sSeparator42, "Complex service:");
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PrintText(g_sComplexService, "Complex Service Interface not available.");
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if (!m_isExternalApp)
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{
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PrintText(g_sControlDescription, "Press 'X' to quit; '1', '2', '3', '4' to toggle doors...");
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}
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else
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{
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title.append(" [Connected to an instance]");
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PrintText(g_sTitle, title.c_str());
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PrintText(g_sControlDescription, "Press 'X' to quit; Doors are toggled automatically");
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}
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}
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bool CConsole::PrepareDataConsumers()
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{
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if (!m_isExternalApp)
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{
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if(!(PrepareDataConsumersForStandAlone()))
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{
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return false;
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}
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}
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auto basicServiceL1 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Left_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle01::LeftService::IVSS_GetIsOpen>();
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if (!basicServiceL1)
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{
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SDV_LOG_ERROR("Could not get interface 'LeftService::IVSS_IsOpen': [CConsole]");
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return false;
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}
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else
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{
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/* Interface exists -> Clean the line for Console window */
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PrintText(g_sBasicServiceL1, " ");
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}
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basicServiceL1->RegisterOnSignalChangeOfLeftDoorIsOpen01(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::LeftService::IVSS_SetIsOpen_Event*> (this));
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bool value = false;
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PrintValue(g_sFrontLeftDoorIsLocked, "Front Left Latch:", value, (value ? "locked" : "unlocked"));
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// all other doors are optional
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auto basicServiceR1 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Right_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle01::RightService::IVSS_GetIsOpen>();
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if (basicServiceR1)
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{
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basicServiceR1->RegisterOnSignalChangeOfRightDoorIsOpen01(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::RightService::IVSS_SetIsOpen_Event*> (this));
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PrintValue(g_sFrontRightDoorIsLocked, "Front Right Latch:", value, (value ? "locked" : "unlocked"));
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}
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auto basicServiceL2 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle02.Left_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle02::LeftService::IVSS_GetIsOpen>();
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if (basicServiceL2)
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{
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basicServiceL2->RegisterOnSignalChangeOfLeftDoorIsOpen02(dynamic_cast<vss::Vehicle::Chassis::Door::Axle02::LeftService::IVSS_SetIsOpen_Event*> (this));
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PrintValue(g_sRearLeftDoorIsLocked, "Rear Left Latch:", value, (value ? "locked" : "unlocked"));
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}
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auto basicServiceR2 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle02.Right_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle02::RightService::IVSS_GetIsOpen>();
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if (basicServiceR2)
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{
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basicServiceR2->RegisterOnSignalChangeOfRightDoorIsOpen02(dynamic_cast<vss::Vehicle::Chassis::Door::Axle02::RightService::IVSS_SetIsOpen_Event*> (this));
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PrintValue(g_sRearRightDoorIsLocked, "Rear Right Latch:", value, (value ? "locked" : "unlocked"));
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}
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m_pDoorService = sdv::core::GetObject("Doors Example Service").GetInterface<IDoorService>();
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if (!m_pDoorService)
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{
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SDV_LOG_ERROR("Console ERROR: Could not get complex service interface 'IDoorService'");
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return false;
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}
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if (m_isExternalApp)
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{
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PrintText(g_sFrontLeftDoorIsLocked, " ");
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PrintText(g_sFrontRightDoorIsLocked, " ");
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PrintText(g_sRearLeftDoorIsLocked, " ");
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PrintText(g_sRearRightDoorIsLocked, " ");
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PrintText(g_sFrontLeftDoorIsOpen, "External Application, no dispatch service.");
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PrintText(g_sFrontRightDoorIsOpen, " ");
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PrintText(g_sRearLeftDoorIsOpen, " ");
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PrintText(g_sRearRightDoorIsOpen, " ");
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}
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return true;
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}
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void CConsole::ResetSignals()
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{
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// Set the cursor position at the end
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SetCursorPos(g_sCursor);
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// Registrate for the vehicle device & basic service of the front left door. Front left door mzust exist, the others are optional
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auto vehicleDevice = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Left_Device").GetInterface<vss::Vehicle::Chassis::Door::Axle01::LeftDevice::IVSS_IsOpen>();
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if (vehicleDevice)
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vehicleDevice->UnregisterIsOpenEvent(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::LeftDevice::IVSS_WriteIsOpen_Event*> (this));
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auto basicServiceL1 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Left_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle01::LeftService::IVSS_GetIsOpen>();
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if (basicServiceL1)
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basicServiceL1->UnregisterOnSignalChangeOfLeftDoorIsOpen01(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::LeftService::IVSS_SetIsOpen_Event*> (this));
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auto basicServiceR1 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Right_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle01::RightService::IVSS_GetIsOpen>();
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if (basicServiceR1)
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basicServiceR1->UnregisterOnSignalChangeOfRightDoorIsOpen01(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::RightService::IVSS_SetIsOpen_Event*> (this));
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auto basicServiceL2 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle02.Left_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle02::LeftService::IVSS_GetIsOpen>();
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if (basicServiceL2)
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basicServiceL2->UnregisterOnSignalChangeOfLeftDoorIsOpen02(dynamic_cast<vss::Vehicle::Chassis::Door::Axle02::LeftService::IVSS_SetIsOpen_Event*> (this));
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auto basicServiceR2 = sdv::core::GetObject("Vehicle.Chassis.Door.Axle02.Right_Service").GetInterface<vss::Vehicle::Chassis::Door::Axle02::RightService::IVSS_GetIsOpen>();
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if (basicServiceR2)
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basicServiceR2->UnregisterOnSignalChangeOfRightDoorIsOpen02(dynamic_cast<vss::Vehicle::Chassis::Door::Axle02::RightService::IVSS_SetIsOpen_Event*> (this));
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// Unregister the data link signalss
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if (m_SignalFrontLeftDoorIsOpen)
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m_SignalFrontLeftDoorIsOpen.Reset();
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if (m_SignalFrontRightDoorIsOpen)
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m_SignalFrontRightDoorIsOpen.Reset();
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if (m_SignalRearLeftDoorIsOpen)
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m_SignalRearLeftDoorIsOpen.Reset();
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if (m_SignalRearRightDoorIsOpen)
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m_SignalRearRightDoorIsOpen.Reset();
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if (m_SignalFrontLeftDoorIsLocked)
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m_SignalFrontLeftDoorIsLocked.Reset();
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if (m_SignalFrontRightDoorIsLocked)
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m_SignalFrontRightDoorIsLocked.Reset();
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if (m_SignalRearLeftDoorIsLocked)
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m_SignalRearLeftDoorIsLocked.Reset();
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if (m_SignalRearRightDoorIsLocked)
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m_SignalRearRightDoorIsLocked.Reset();
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}
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void CConsole::StartUpdateDataThread()
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{
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if (m_bThreadStarted)
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return;
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m_bThreadStarted = true;
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m_bRunning = true;
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m_threadReadTxSignals = std::thread(&CConsole::UpdateDataThreadFunc, this);
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}
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void CConsole::StopUpdateDataThread()
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{
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// Stop running and wait for any thread to finalize
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m_bRunning = false;
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if (m_threadReadTxSignals.joinable())
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m_threadReadTxSignals.join();
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}
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void CConsole::SetExternalApp()
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{
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m_isExternalApp = true;
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}
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void CConsole::WriteIsOpen(bool value)
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{
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PrintValue(g_sVehicleDevice, "Front Left Door:", value, (value ? "open" : "closed"));
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}
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void CConsole::SetIsOpenL1(bool value)
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{
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PrintValue(g_sBasicServiceL1, "Front Left Door:", value, (value ? "open" : "closed"));
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}
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void CConsole::SetIsOpenR1(bool value)
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{
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PrintValue(g_sBasicServiceR1, "Front Right Door:", value, (value ? "open" : "closed"));
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}
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void CConsole::SetIsOpenL2(bool value)
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{
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PrintValue(g_sBasicServiceL2, "Rear Left Door:", value, (value ? "open" : "closed"));
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}
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void CConsole::SetIsOpenR2(bool value)
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{
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PrintValue(g_sBasicServiceR2, "Rear Right Door:", value, (value ? "open" : "closed"));
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}
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bool CConsole::PrepareDataConsumersForStandAlone()
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{
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// Subscribe for the door and if available get TX signal. Either both exists or none of them
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sdv::core::CDispatchService dispatch;
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m_SignalFrontLeftDoorIsOpen = dispatch.Subscribe(doors::dsLeftDoorIsOpen01, [&](sdv::any_t value) { CallbackFrontLeftDoorIsOpen(value); });
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if(m_SignalFrontLeftDoorIsOpen)
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m_SignalFrontLeftDoorIsLocked = dispatch.RegisterTxSignal(doors::dsLeftLatch01, 0);
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m_SignalFrontRightDoorIsOpen = dispatch.Subscribe(doors::dsRightDoorIsOpen01, [&](sdv::any_t value) { CallbackFrontRightDoorIsOpen(value); });
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if(m_SignalFrontRightDoorIsOpen)
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m_SignalFrontRightDoorIsLocked = dispatch.RegisterTxSignal(doors::dsRightLatch01, 0);
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m_SignalRearLeftDoorIsOpen = dispatch.Subscribe(doors::dsLeftDoorIsOpen02, [&](sdv::any_t value) {CallbackRearLeftDoorIsOpen(value); });
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if(m_SignalRearLeftDoorIsOpen)
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m_SignalRearLeftDoorIsLocked = dispatch.RegisterTxSignal(doors::dsLeftLatch02, 0);
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m_SignalRearRightDoorIsOpen = dispatch.Subscribe(doors::dsRightDoorIsOpen02, [&](sdv::any_t value) { CallbackRearRightDoorIsOpen(value); });
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if(m_SignalRearRightDoorIsOpen)
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m_SignalRearRightDoorIsLocked = dispatch.RegisterTxSignal(doors::dsRightLatch02, 0);
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// Validate: Either both exists or none of them
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if (m_SignalFrontLeftDoorIsOpen != m_SignalFrontLeftDoorIsLocked)
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||||
{
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||||
SDV_LOG_ERROR("Console ERROR: m_SignalFrontLeftDoorIsOpen != m_SignalFrontLeftDoorIsLocked do not match, failed");
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return false;
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||||
}
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if (m_SignalFrontRightDoorIsOpen != m_SignalFrontRightDoorIsLocked)
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||||
{
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SDV_LOG_ERROR("Console ERROR: m_SignalFrontRightDoorIsOpen != m_SignalFrontRightDoorIsLocked do not match, failed");
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||||
return false;
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||||
}
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||||
if (m_SignalRearLeftDoorIsOpen != m_SignalRearLeftDoorIsLocked)
|
||||
{
|
||||
SDV_LOG_ERROR("Console ERROR: m_SignalRearLeftDoorIsOpen != m_SignalRearLeftDoorIsLockeddo not match, failed");
|
||||
return false;
|
||||
}
|
||||
if (m_SignalRearRightDoorIsOpen != m_SignalRearRightDoorIsLocked)
|
||||
{
|
||||
SDV_LOG_ERROR("Console ERROR: m_SignalRearRightDoorIsOpen != m_SignalRearRightDoorIsLocked do not match, failed");
|
||||
return false;
|
||||
}
|
||||
|
||||
// Registrate for the vehicle device & basic service of the front left door. Front left door mzust exist, the others are optional
|
||||
auto vehicleDevice = sdv::core::GetObject("Vehicle.Chassis.Door.Axle01.Left_Device").GetInterface<vss::Vehicle::Chassis::Door::Axle01::LeftDevice::IVSS_IsOpen>();
|
||||
if (!vehicleDevice)
|
||||
{
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||||
SDV_LOG_ERROR("Could not get interface 'LeftDevice::IVSS_IsOpen': [CConsole]");
|
||||
return false;
|
||||
}
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||||
vehicleDevice->RegisterIsOpenEvent(dynamic_cast<vss::Vehicle::Chassis::Door::Axle01::LeftDevice::IVSS_WriteIsOpen_Event*> (this));
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||||
return true;
|
||||
}
|
||||
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||||
void CConsole::CallbackFrontLeftDoorIsOpen(sdv::any_t value)
|
||||
{
|
||||
m_FrontLeftDoorIsOpen = value.get<bool>();
|
||||
PrintValue(g_sFrontLeftDoorIsOpen, "Front Left Door:", m_FrontLeftDoorIsOpen, (m_FrontLeftDoorIsOpen ? "open" : "closed"));
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||||
}
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void CConsole::CallbackFrontRightDoorIsOpen(sdv::any_t value)
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||||
{
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||||
m_FrontRightDoorIsOpen = value.get<bool>();
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PrintValue(g_sFrontRightDoorIsOpen, "Front Right Door:", m_FrontRightDoorIsOpen, (m_FrontRightDoorIsOpen ? "open" : "closed"));
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||||
}
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void CConsole::CallbackRearLeftDoorIsOpen(sdv::any_t value)
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{
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||||
m_RearLeftDoorIsOpen = value.get<bool>();
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||||
PrintValue(g_sRearLeftDoorIsOpen, "Rear Left Door:", m_RearLeftDoorIsOpen, (m_RearLeftDoorIsOpen ? "open" : "closed"));
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||||
}
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||||
void CConsole::CallbackRearRightDoorIsOpen(sdv::any_t value)
|
||||
{
|
||||
m_RearRightDoorIsOpen = value.get<bool>();
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||||
PrintValue(g_sRearRightDoorIsOpen, "Rear Right Door:", m_RearRightDoorIsOpen, (m_RearRightDoorIsOpen ? "open" : "closed"));
|
||||
}
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||||
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void CConsole::UpdateDataThreadFunc()
|
||||
{
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bool bDoorsAreLocked = true;
|
||||
bool bFirstStatusCheck = true;
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(100));
|
||||
|
||||
while (m_bRunning)
|
||||
{
|
||||
if (!m_isExternalApp)
|
||||
{
|
||||
UpdateTXSignal(g_sFrontLeftDoorIsLocked, "Front Left Latch:", m_SignalFrontLeftDoorIsLocked, m_FrontLeftDoorIsLocked);
|
||||
UpdateTXSignal(g_sFrontRightDoorIsLocked, "Front Right Latch:", m_SignalFrontRightDoorIsLocked, m_FrontRightDoorIsLocked);
|
||||
UpdateTXSignal(g_sRearLeftDoorIsLocked, "Rear Left Latch:", m_SignalRearLeftDoorIsLocked, m_RearLeftDoorIsLocked);
|
||||
UpdateTXSignal(g_sRearRightDoorIsLocked, "Rear Right Latch:", m_SignalRearRightDoorIsLocked, m_RearRightDoorIsLocked);
|
||||
}
|
||||
|
||||
if (m_pDoorService)
|
||||
{
|
||||
auto latch = m_pDoorService->GetDoorsStatus();
|
||||
if ((bDoorsAreLocked != latch) || (bFirstStatusCheck))
|
||||
{
|
||||
bDoorsAreLocked = latch;
|
||||
PrintText(g_sComplexService, bDoorsAreLocked ? "All doors are locked" :"All doors are unlocked");
|
||||
bFirstStatusCheck = false;
|
||||
}
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(1));
|
||||
}
|
||||
}
|
||||
|
||||
void CConsole::UpdateTXSignal(SConsolePos sPos, const std::string& label, sdv::core::CSignal& signal, bool& value)
|
||||
{
|
||||
// signal may be optional (door may not exist)
|
||||
if (signal)
|
||||
{
|
||||
auto frontLeftDoorIsLocked = value;
|
||||
value = signal.Read().get<bool>();
|
||||
if (frontLeftDoorIsLocked != value)
|
||||
{
|
||||
PrintValue(sPos, label , value, (value ? "locked" : "unlocked"));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
CConsole::SConsolePos CConsole::GetCursorPos() const
|
||||
{
|
||||
SConsolePos sPos{};
|
||||
std::cout << "\033[6n";
|
||||
|
||||
char buff[128];
|
||||
int indx = 0;
|
||||
for(;;) {
|
||||
int cc = std::cin.get();
|
||||
buff[indx] = (char)cc;
|
||||
indx++;
|
||||
if(cc == 'R') {
|
||||
buff[indx + 1] = '\0';
|
||||
break;
|
||||
}
|
||||
}
|
||||
int iRow = 0, iCol = 0;
|
||||
sscanf(buff, "\x1b[%d;%dR", &iRow, &iCol);
|
||||
sPos.uiRow = static_cast<uint32_t>(iRow);
|
||||
sPos.uiCol = static_cast<uint32_t>(iCol);
|
||||
fseek(stdin, 0, SEEK_END);
|
||||
|
||||
return sPos;
|
||||
}
|
||||
|
||||
void CConsole::SetCursorPos(SConsolePos sPos)
|
||||
{
|
||||
std::cout << "\033[" << sPos.uiRow << ";" << sPos.uiCol << "H";
|
||||
}
|
||||
|
||||
void CConsole::PrintText(SConsolePos sPos, const std::string& rssText)
|
||||
{
|
||||
auto text = rssText;
|
||||
while (text.length() < 47)
|
||||
{
|
||||
text.append(" ");
|
||||
}
|
||||
|
||||
std::lock_guard<std::mutex> lock(m_mtxPrintToConsole);
|
||||
SetCursorPos(sPos);
|
||||
std::cout << text;
|
||||
}
|
||||
Reference in New Issue
Block a user